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diffRobot.urdf.xml
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diffRobot.urdf.xml
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<robot name="diffRobot">
<link name="base_link">
<visual name="base_link_visual">
<geometry>
<mesh scale="1 1 1" filename="meshes/base_link.dae"/>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__front_bumper_link_visual_3">
<origin xyz="0.48 0 0.091" rpy="0 0 0"/>
<geometry>
<mesh scale="1 1 1" filename="meshes/bumper.dae"/>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__rear_bumper_link_visual_4">
<origin xyz="-0.48 0 0.091" rpy="0 0 3.14159"/>
<geometry>
<mesh scale="1 1 1" filename="meshes/bumper.dae"/>
</geometry>
</visual>
<visual name="base_link_fixed_joint_lump__top_chassis_link_visual_5">
<geometry>
<mesh scale="1 1 1" filename="meshes/top_chassis.dae"/>
</geometry>
</visual>
<collision name="base_link_collision">
<origin xyz="0 0 0.12" rpy="0 0 0"/>
<geometry>
<box size="0.9874 0.5709 0.05"/>
</geometry>
</collision>
<collision name="base_link_collision_bottom">
<origin xyz="0 0 0.046" rpy="0 0 0"/>
<geometry>
<box size="0.80 0.5709 0.05"/>
</geometry>
</collision>
<collision name="base_link_collision_1">
<origin xyz="0 0 0.185625" rpy="0 0 0"/>
<geometry>
<box size="0.78992 0.5709 0.12375"/>
</geometry>
</collision>
<inertial>
<mass value="41.064"/>
<inertia ixx="0.615397" ixy="-0.0240585" ixz="-0.120749" iyy="1.75388" iyz="-0.0028322" izz="2.03641"/>
</inertial>
</link>
<link name="front_left_wheel_link">
<visual name="front_left_wheel_link_visual">
<geometry>
<mesh scale="1 1 1" filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision name="front_left_wheel_link_collision">
<origin xyz="0 0 0" rpy="1.5707963267948966 -0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
<inertial>
<mass value="2.637"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
</link>
<link name="front_right_wheel_link">
<visual name="front_right_wheel_link_visual">
<geometry>
<mesh scale="1 1 1" filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision name="front_right_wheel_link_collision">
<origin xyz="0 0 0" rpy="1.5707963267948966 -0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
<inertial>
<mass value="2.637"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
</link>
<link name="rear_left_wheel_link">
<visual name="rear_left_wheel_link_visual">
<geometry>
<mesh scale="1 1 1" filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision name="rear_left_wheel_link_collision">
<origin xyz="0 0 0" rpy="1.5707963267948966 -0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
<inertial>
<mass value="2.637"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
</link>
<link name="rear_right_wheel_link">
<visual name="rear_right_wheel_link_visual">
<geometry>
<mesh scale="1 1 1" filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision name="rear_right_wheel_link_collision">
<origin xyz="0 0 0" rpy="1.5707963267948966 -0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
<inertial>
<mass value="2.637"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
</link>
<joint name="front_left_wheel_joint" type="revolute">
<origin xyz="0.256 0.2854 0.03282" rpy="0 0 0"/>
<child link="front_left_wheel_link"/>
<parent link="base_link"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100" lower="-1.79769e+308" upper="1.79769e+308"/>
</joint>
<joint name="front_right_wheel_joint" type="revolute">
<origin xyz="0.256 -0.2854 0.03282" rpy="0 0 0"/>
<child link="front_right_wheel_link"/>
<parent link="base_link"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100" lower="-1.79769e+308" upper="1.79769e+308"/>
</joint>
<joint name="rear_left_wheel_joint" type="revolute">
<origin xyz="-0.256 0.2854 0.03282" rpy="0 0 0"/>
<child link="rear_left_wheel_link"/>
<parent link="base_link"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100" lower="-1.79769e+308" upper="1.79769e+308"/>
</joint>
<joint name="rear_right_wheel_joint" type="revolute">
<origin xyz="-0.256 -0.2854 0.03282" rpy="0 0 0"/>
<child link="rear_right_wheel_link"/>
<parent link="base_link"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100" lower="-1.79769e+308" upper="1.79769e+308"/>
</joint>
</robot>